version: 66.13
glider: 401
mission: 22
dive: 274
start: 7 31 117 12 43 10
data:
$ID,401
$MISSION,22
$DIVE,274
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,310717,123554,5947.3662,-17124.6895,5,0.8,17,8.2,0.8,94.6,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.2
$GPS2,310717,124203,5947.3657,-17124.5977,9,0.8,20,8.2,0.0,58.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.329389,-0.081661
$KALMAN_X,35960.523438,-1850.101074,-613.107849,-89457.117188,182.818054
$KALMAN_Y,15356.833984,1966.064331,447.995026,41588.847656,-45.422852
$MHEAD_RNG_PITCHd_Wd,247.9,2631,-11.3,-9.091,-15.00,6416
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.61,-389.6,238,1898,2030,4092,0.0,0.0,0,21,10.98,0.00,0.00,0.000,2049,0.111,0.000,1140,1898,2030,2030,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.27,50.59
$GC,23,-1.61,-389.6,1139,1897,2030,4094,0.9,0.0,1,50,7.53,2.47,-8.50,0.000,18948,0.050,1.304,1836,1034,2959,2959,4094,0,0,0,0,0,0,25.94,24.87,26.01,10.28,49.84
$GC,119,-1.61,-389.6,1836,1033,2960,4094,6.4,-12.3,14,129,0.00,2.17,0.00,0.000,1030,0.000,0.028,1836,1897,2960,2960,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.49,49.37
$GC,166,-1.61,-389.6,1836,1897,2961,4094,12.4,-12.9,20,175,0.00,2.33,0.00,0.000,260,0.000,0.057,1836,2754,2961,2961,4094,0,0,0,0,0,0,26.17,25.86,26.19,10.49,49.05
$GC,237,-1.61,-389.6,1836,2754,2963,4094,21.4,-11.7,30,246,0.00,2.17,0.00,0.000,1030,0.000,0.030,1836,1907,2963,2963,4095,0,0,0,0,0,0,26.02,25.98,26.04,10.46,48.42
$GC,284,-1.61,-389.6,1836,1907,2964,4095,26.3,-10.6,36,293,0.00,2.38,0.00,0.000,516,0.000,0.069,1836,1037,2964,2964,4095,0,0,0,0,0,0,26.29,25.94,26.29,10.43,47.71
$GC,368,-1.61,-389.6,1834,1037,2966,4095,36.5,-11.9,48,377,0.00,2.10,0.00,0.000,1030,0.000,0.028,1836,1877,2966,2966,4095,0,0,0,0,0,0,26.14,26.10,26.17,10.40,46.10
$GC,413,-1.61,-389.6,1836,1878,2966,4095,41.6,-10.9,54,423,0.00,2.38,0.00,0.000,260,0.000,0.055,1836,2764,2966,2966,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.38,45.90
$GC,465,-1.61,-389.6,1835,2764,2968,4094,47.3,-10.7,61,475,0.00,2.22,0.00,0.000,1030,0.000,0.031,1836,1892,2968,2968,4094,0,0,0,0,0,0,26.17,26.14,26.21,10.37,45.43
$GC,512,-1.61,-389.6,1836,1892,2969,4094,52.2,-10.9,67,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1892,2969,2969,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.37,44.52
$GC,558,-1.61,-389.6,1836,1892,2969,4095,57.3,-11.2,73,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1892,2970,2970,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.36,43.89
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1836,2043,2970,4095,60.4,-11.8,76,621,4.03,0.00,22.88,1.274,10244,0.058,0.000,2205,2044,2502,2502,4094,0,0,0,0,0,0,26.18,25.22,24.57,10.35,43.77
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,624,1.61,389.6,2204,2044,2502,4094,62.8,0.0,80,660,7.00,0.00,22.67,1.253,11270,0.037,0.000,2861,2044,2046,2046,4094,0,0,0,0,0,0,25.68,25.84,24.12,10.25,43.50
$GC,697,1.61,389.6,2860,2043,2045,4094,57.9,10.2,89,706,0.00,2.25,0.00,0.000,260,0.000,0.055,2860,2859,2044,2044,4094,0,0,0,0,0,0,25.61,25.32,25.63,10.15,42.67
$GC,748,1.61,389.6,2861,2859,2043,4094,51.3,13.1,96,758,0.00,2.17,0.00,0.000,1030,0.000,0.029,2861,2024,2043,2043,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.13,43.22
$GC,794,1.61,389.6,2860,2024,2042,4094,45.7,12.2,102,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2024,2042,2042,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.13,43.34
$GC,839,1.61,389.6,2860,2024,2041,4094,40.1,12.3,108,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2024,2041,2041,4095,0,0,0,0,0,0,25.98,26.00,26.00,10.12,44.13
$GC,883,1.61,389.6,2860,2024,2040,4095,34.8,12.0,114,891,0.00,2.40,0.00,0.000,516,0.000,0.067,2861,1147,2040,2040,4094,0,0,0,0,0,0,26.06,25.72,26.07,10.12,43.58
$GC,946,1.61,389.6,2860,1146,2038,4094,27.3,11.7,123,956,0.00,2.12,0.00,0.000,1030,0.000,0.029,2861,1993,2038,2038,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.13,44.32
$GC,992,1.61,389.6,2860,1993,2037,4094,22.5,10.3,129,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2037,2037,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.14,44.84
$GC,1036,1.61,389.6,2860,1993,2035,4094,17.7,10.9,135,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2035,2035,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.16,45.98
$GC,1080,1.61,389.6,2861,1992,2035,4094,13.3,9.8,141,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2034,2034,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.18,47.08
$GC,1125,1.61,389.6,2860,1994,2033,4095,9.0,9.5,147,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2034,2034,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.21,48.03
$GC,1169,1.61,389.6,2861,1994,2033,4095,4.7,9.9,153,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2033,2033,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.22,49.33
$STATE,1198,end climb,FINISH_DEPTH_REACHED
$STATE,1198,begin subsurface finish
$FINISH1,1.3,1.024291,91
$GC,1204,0.14,91.2,2861,1998,2031,4094,1.3,10.8,157,1215,4.75,0.00,-3.20,0.000,20486,0.035,0.000,2406,1999,2401,2401,4094,0,0,0,0,0,0,26.14,25.26,26.18,10.22,49.33
$FINISH2,0.1
$STATE,1216,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1216,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,112039
$TT8_MAMPS,0.026964,0.238182
$HUMID,49.52
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.12,6.680
$10V_AH,10.22,8.431
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.275,27.500,45.550,0.000,0.000,24.311,21.410,214.123,0.000,0.000,21.283,446.135,0.000,134.031,941.363,88.242,33.456,403.557,0.000,384.512,0.000,0.542,0.000
$DEVICE_MAMPS,110.925,1304.325,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.875,429.270,339.689,503.678,657.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329460
$DATA_FILE_SIZE,14315,158
$CAP_FILE_SIZE,35571,0
$CFSIZE,1024409600,1006026752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,124203,5947.366,-17124.598,9,0.8,20,8.2,0.0,58.6,11,5.0